Angular Speed Control

General Description
The process consists of a DC motor, a reduction unit, a tachometer and a visualization system. The DC motor (A) generates the actuating signal for the speed control
system and the reducer (B) reduces the angular velocity. Reducer consists in two
cogwheel performing a reduction of 50:1.

Position

180

Ra

a
50:1

Vi

Motor Parameters
Nominal voltage

24 V

Armature inductance (La )

2.8 mH

Armature resistance (Ra )

5.5

Motor torque constant

0.046 N m/A

Nominal velocity

4000 RP M

Max motor voltage no motion 2.3 V

5V

Max applicable voltage

Mathematical Model
The open-loop transfer function of the process can be approximated as follows:
G(s) =

K
(1 + Tf s)(1 + Tm s)

with:
K=

kg kM
Rf

kM

overall motor constant (rad/V s)

kg

generator constant (V /A)

Rf

resistance of the eld circuit ()

Tf

generator eld constant (s)

Tm

motor mechanical constant (s)

Due to a threshold present in the process, the full dynamics can be written as:

(s) =

if |Vi | [0 , 2.3]

(1 +

1
10

4
s) (1 +

1
2000

s)

Vi (s)

if |Vi | [2.3 , 5]

where Vi is the voltage applied to the motor and is the angular speed measured
by a tachometric dynamo.